Course 6:

Robot motion planning

Learn how to calculate time, distance and speed, so you can predict the movement of your robots. You can also see how to connect gears to make a robot more powerful or faster.

Beginner level
Category: Robotics 💬 English

What Will I Learn?

  • Move your robot with a defined unit
  • Measure time in SNAP
  • Calculate your robot's speed
  • Calculate your robot's traveled distance
  • Make your robot slower using gears
  • Make your robot stronger using gears
  • Make your robot faster using gears
  • Park your robot to a free place


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Curriculum For This Course

In this lecture you will learn how to convert the wheel turn angle to distance. You will see how to measure your robot's wheel's circumference and how to calculate the required motor rotation degree to move your robot by one meter. This lecture gives you very useful knowledge, that can be used in real life autonomous vehicle systems.
In this lecture you will learn how to get a vehicle to turn exactly 90 degrees. The lecture uses a robot that can do turns with the help of two motors. You will learn how to calculate the required motor rotation from the robot's dimensions. You will see the command to use to make the turn. You will also solve a task where the goal is to move your robot along a square path, using the calculated rotation values.
In robotics, there are many situations when you need to measure time. In this lecture you will learn, how to create a stopwatch in SNAP, that can be triggered and stopped on sensor events such as the press of a button.
In this lecture you will learn to work with speed. You will see how time and distance form the base of speed measurement. You will see that if the speed is greater, the travelled distance within the same timeframe is increased proportianatly. You will also learn the relation between time and speed.
If you know your robot's speed you can calculate the traveled distance. You will learn how to build a SNAP program, which calculates the traveled distance using the speed and time measurement. By completing this lecture you will understand how GPS systems can predict and calculate travelled distance.
In this lecture you will learn to build a speed camera. You will learn different methods to determine the speed of the robot. You will do this by measuring the time, and the travelled distance. To build the speed camera you will use the ultrasonic distance sensor, and the time measurement code you have learned about in lecture 3. You will take two measurements, just like real life speed cameras do.
After taking this lecture you will be able to predict where two robots travelling toward each other will meet. We call this point the collision point. To calculate the collision point you must take into accound robot speed, and travelled distance. You will also learn how to verify the calculation using real life robots.
This lecture will teach you how to predict the result of a speed race. You will have two robots started from different distances. They will go at different speeds. Your job will be to find out which robot will reach the finish line first. This lecture teaches math and provides directions to create robot control pogram code to verify results.
In this lecture you will learn how cogwheels can effect speed. After completing the lecture you will have an idea of how the gearbox of a car works. You will see, that connecting smaller and larger cogs can make your robot slower or faster and you will learn about turn angle ratios.
There are many situations when you want to move heavy objects with your robot and the power of the motor is not sufficient. In these situations gear boxes are introduced in robotics to increase the power of the motor. In this lecture you will learn what a gear box is and how it can be used to make your robot stronger.


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  • This course is designed to suit users of either the EV3 home edition or the EV3 education edition.
  • Users are required to have a Windows 10 PC with Bluetooth. (Most Windows 10 laptops have built in bluetooth support)
  • Users will need to download Ozeki 10 from
  • Users will need to know the basics of Ozeki 10 and Lego robots. Read more information in this course.
  • If you are new at robot programming it is highly recommended to complete previous courses before starting this Course.


Ozeki 10 (robot operating system) gives you access to robot sensors, motors, actuators and microcontrollers the same way Microsoft Windows gives you access to your hardware devices in your PC. It makes it very easy to create and build robots, and to program them to do the task you prefer.

This course is designed to get you started with planning your robot motion. It shows you how to move your robot with a defined value and how to calculate your robot's speed or traveled distance. You will learn how to control two robot from SNAP at the same time and how to make your robot slower, faster or stronger using gear connected to your robot's motor. Finally you will learn how can you detect a free parking place, and park to it with your robot.

The lectures in the course provide easy to follow step by step instructions, and a quiz. Enjoy the course!

Who is the target audience?

This course is designed for learners who are interested in basic physics and programming robots. It is an entry level course that allows students to learn the basics and it enables them to get started.

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